Automatic fruit recognition: A survey and new results using range/attenuation images

A. R. Jiménez*, A. K. Jain, R. Ceres, Jose L Pons

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

101 Scopus citations


An automatic fruit recognition system and a review of previous fruit detection work are reported. The methodology presented is able to recognize spherical fruits in natural conditions facing difficult situations: shadows, bright areas, occlusions and overlapping fruits. The sensor used is a laser range-finder giving range/attenuation data of the sensed surface. The recognition system uses a laser range-finder model and a dual color/shape analysis algorithm to locate the fruit. The three-dimensional position of the fruit, radius and the reflectance are obtained after the recognition stages. Results for a set of artificial orange tree images and real-time considerations are presented.

Original languageEnglish (US)
Pages (from-to)1719-1736
Number of pages18
JournalPattern Recognition
Issue number10
StatePublished - Oct 1999


  • Agriculture
  • Circular hough transform
  • Contour extraction
  • Range images
  • Shape recognition

ASJC Scopus subject areas

  • Software
  • Signal Processing
  • Computer Vision and Pattern Recognition
  • Artificial Intelligence

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